invkine.m

模糊控制工具箱,很好用的,有相应的说明文件,希望对大家有用!

    % ====== arm 1
    init_pos = [0; l1] + j*[0; 0];
    arm1H = line(real(init_pos), imag(init_pos));
    set(arm1H, 'userdata', l1);
    set(arm1H, 'erasemode', 'xor', 'color', 'r', 'linewidth', 4);
    set(arm1H, 'clipping', 'off');
    % ====== arm 2
    init_pos = [l1; l1+l2] + j*[0; 0];
    arm2H = line(real(init_pos), imag(init_pos));
    set(arm2H, 'userdata', l2);
    set(arm2H, 'erasemode', 'xor', 'color', 'c', 'linewidth', 4);
    set(arm2H, 'clipping', 'off');
    % ====== small circle showing actual trajectory
    dotH = line(0, 0);
    set(dotH, 'Marker', 'o', 'color', 'g', 'erasemode', 'xor');
    set(dotH, 'linewidth', 2);
    % ====== desired trajectory
    center = 11*exp(j*pi/3);    % center for reference ellipse
    data_n = 50;
    t = linspace(0, 2*pi, data_n)-pi/2;
    desired_traj = r1*cos(t) + j*r2*sin(t) +  center;
    desired_trajH = line(real(desired_traj), imag(desired_traj));
    set(desired_trajH, 'erasemode', 'xor');
    set(desired_trajH, 'linewidth', 2, 'userdata', desired_traj);
    set(desired_trajH, 'clipping', 'off');
    % ====== actual trajectory
    actual_trajH = line([1 1]*real(desired_traj(1)), ...
        [1 1]*imag(desired_traj(1)));
    set(actual_trajH, 'erase', 'none', 'color', 'w');
    set(actual_trajH, 'clipping', 'off');
    set(actual_trajH, 'linewidth', 2, 'linestyle', '--');

    % ====== set 'userdata'
    tmp = [arm1H arm2H dotH desired_trajH actual_trajH -1 -1 -1 -1 -1];
    set(InvKineFigH, 'userdata', [get(InvKineFigH, 'userdata'); tmp]);
    
elseif strcmp(action, 'single_loop'),
    % ====== get animation objects
    tmp = get(InvKineFigH, 'userdata');
    arm1H = tmp(3, 1);
    arm2H = tmp(3, 2);
    dotH = tmp(3, 3);
    desired_trajH = tmp(3, 4);
    actual_trajH = tmp(3, 5);
    l1 = get(arm1H, 'userdata');
    l2 = get(arm2H, 'userdata');
    countH = tmp(1, 6);
    % ====== get FIS handle
    fisH1 = tmp(3, 6);
    fisH2 = tmp(3, 7);
    % ====== get desired position
    desired_traj = get(desired_trajH,'xdata')+j*get(desired_trajH,'ydata');
    desired_pos = desired_traj(rem(InvKineCount, length(desired_traj))+1);
    x = real(desired_pos);
    y = imag(desired_pos);
    % ====== evaluate FIS to get joint angles
    theta1 = evalfis([x, y], InvKineFisMat1);
    theta2 = evalfis([x, y], InvKineFisMat2);
    % ====== count operation
    set(countH, 'string', int2str(InvKineCount));
    InvKineCount = InvKineCount+1;
    % ====== update animation objects
    set(dotH, 'xdata', x, 'ydata', y);
    end1 = l1*exp(j*theta1);
    end2 = end1 + l2*exp(j*(theta1+theta2));
    set(arm1H, 'xdata', [0 real(end1)], 'ydata', [0 imag(end1)]);
    set(arm2H, 'xdata', [real(end1) real(end2)], ...
        'ydata', [imag(end1) imag(end2)]);
    tmp_x = get(actual_trajH, 'xdata');
    tmp_y = get(actual_trajH, 'ydata');
    set(actual_trajH, 'xdata', [tmp_x(2), real(end2)], ...
        'ydata', [tmp_y(2), imag(end2)], 'HitTest', 'off');
    drawnow;
elseif strcmp(action, 'main_loop'),
    InvKineAnimRunning = 1;
    % ====== get animation objects
    tmp = get(InvKineFigH, 'userdata');
    % ====== change visibility of GUI's 
    set(tmp(1, 1), 'visible', 'off');
    set(tmp(1, 4:5), 'visible', 'off');
    set(tmp(1, 2:3), 'visible', 'on');
    % ====== looping
    while 1 & ~InvKineAnimClose
        if ~InvKineAnimRunning | InvKineAnimPause,
            break;
        end
        eval([mfilename, '(''single_loop'')']);
    end
    % ====== shut down 
    if InvKineAnimClose,
        delete(InvKineFigH);
    end
elseif strcmp(action, 'load_fis_mat'),
    tmp = get(InvKineFigH, 'userdata');
    % ====== Read FIS matrices if necessary 
    if tmp(3, 6) < 0,   % FIS not been build
        % ====== read FIS matrix
        InvKineFisMat1 = readfis('invkine1');
        InvKineFisMat2 = readfis('invkine2');
        % ====== change flag
        tmp(3, 6) = 1;
        set(InvKineFigH, 'userdata', tmp);
    end
elseif strcmp(action, 'mouse_action1'),
    % mouse action when button is first pushed down
    tmp = get(InvKineFigH, 'userdata');
    desired_trajH = tmp(3, 4);
    curr_info = get(gca, 'CurrentPoint');
    InvKineCurrPt = curr_info(1, 1) + j*curr_info(1,2);
    now_ball_x = get(desired_trajH, 'xdata');
    now_ball_y = get(desired_trajH, 'ydata');
    now_ball = now_ball_x + j*now_ball_y;
    InvKineInsideEllipse = inpolygon(real(InvKineCurrPt),imag(InvKineCurrPt), ...
        real(now_ball.'),imag(now_ball.'));
elseif strcmp(action, 'mouse_action2'),
    % mouse actions after the mouse is pushed down and dragged
    if InvKineInsideEllipse,
        tmp = get(InvKineFigH, 'userdata');
        desired_trajH = tmp(3, 4);
        prev_pt = InvKineCurrPt;
        curr_info = get(gca, 'CurrentPoint');
        InvKineCurrPt = curr_info(1,1) + j*curr_info(1,2);
        displace = InvKineCurrPt - prev_pt;
        old_ball_x = get(desired_trajH, 'xdata');
        old_ball_y = get(desired_trajH, 'ydata');
        new_ball = old_ball_x + j*old_ball_y + displace;
        set(desired_trajH, 'xdata', real(new_ball));
        set(desired_trajH, 'ydata', imag(new_ball));
    end
elseif strcmp(action, 'mouse_action3'),
    % mouse action when button is released
    eval([mfilename, '(''mouse_action2'')']);
% ###### standard UI controls
%elseif strcmp(action, 'start_anim'),
%   tmp = get(InvKineFigH, 'userdata');
%   set(tmp(1, 1), 'visible', 'off');
%   set(tmp(1, 2:3), 'visible', 'on');
%   if InvKineAnimRunning == 0,
%       InvKineAnimRunning = 1;
%   end
%   eval([mfilename, '(''start'')']);
elseif strcmp(action, 'stop_anim'),
    tmp = get(InvKineFigH, 'userdata');
    set(tmp(1, 1), 'visible', 'on');
    set(tmp(1, 2:5), 'visible', 'off');
    InvKineAnimRunning = 0;
    InvKineAnimPause = 0;
elseif strcmp(action, 'pause_anim'),
    tmp = get(InvKineFigH, 'userdata');
    set(tmp(1, 3), 'visible', 'off');
    set(tmp(1, 4:5), 'visible', 'on');
    InvKineAnimRunning = 0;
    InvKineAnimClose = 0;
    InvKineAnimPause = 1;
elseif strcmp(action, 'step_anim'),
    InvKineAnimStepping = 1;
    eval([mfilename, '(''single_loop'')']);
elseif strcmp(action, 'continue_anim'),
    tmp = get(InvKineFigH, 'userdata');
    set(tmp(1, 3), 'visible', 'on');
    set(tmp(1, 4:5), 'visible', 'off');
    InvKineAnimRunning = 1;
    InvKineAnimPause = 0;
    InvKineAnimClose = 0;
    InvKineAnimStepping = 0;
    eval([mfilename, '(''set_constant'')']);
    eval([mfilename, '(''main_loop'')']);
elseif strcmp(action, 'info'),
    helpview([matlabroot '\toolbox\fuzzy\fuzdemos\html\invkine_codepad.html']);
    %title = get(InvKineFigH, 'Name');
    %content = ...
    %['                                                    '
    % ' Animation of the inverse kinematics problem        '
    % ' when applied to the two-joint robot arm system.    '
    % ' The ellipse is the desired trajectory; you can     '
    % ' change the location of the ellipse by clicking     '
    % ' mouse inside it and dragging it to another         '
    % ' location. The crosses at background indicate       '
    % ' the locations of each training data pair.          '
    % '                                                    '
    % ' The training of ANFIS for this problem was done    '
    % ' off-line. To see how the training data set is      '
    % ' collected and how to do the training, see the      '
    % ' file traininv.m. To see both the surfaces for      '
    % ' forward and backward kinematics, try invsurf.m.    '
    % '                                                    '
    % ' File: invkine.m                                    '];
    %fhelpfun(title, content);
elseif strcmp(action, 'close'),
    if InvKineAnimRunning == 1,
        InvKineAnimClose = 1;   % close via main_loop
    else    % close when animation is stopped or paused
        delete(InvKineFigH);
    end
% ###### additional UI controls
%elseif strcmp(action, 'target_pos'),
%   signalH = tmp(2, 1);
%   signal = get(signalH, 'value');
%   if signal == 1, % Ellipse
%       set_param(signal_block, 'wave', 'sin');
%       set_param(constant_block, 'value', 1);
%   elseif signal == 2, % Mouse-driven
%       set_param(signal_block, 'wave', 'sqr');
%       set_param(constant_block, 'value', 1);
%   else
%       error('Unknown target_pos option!');
%   end
elseif strcmp(action, 'show_trail'),
    tmp = get(InvKineFigH, 'userdata');
    showTrailH = tmp(2, 2);
    objectH = tmp(3, 1:4);
    dispmode = get(showTrailH, 'value');
    if dispmode == 0,   % xor
        set(objectH, 'erasemode', 'xor', 'HitTest', 'off');
    %   set(InvKineFigH, 'color', get(InvKineFigH, 'color'));
        refresh(InvKineFigH);
    else
        set(objectH, 'erasemode', 'none', 'HitTest', 'off');
    end
elseif strcmp(action, 'clear_trail'),
%   set(InvKineFigH, 'color', get(InvKineFigH, 'color'));
    refresh(InvKineFigH);
    
elseif strcmp(action, 'resize')
    dCurrUnits = get(InvKineFigH, 'units');
    set(InvKineFigH, 'units', 'character');
    figPosChar = get(InvKineFigH, 'position');
    if figPosChar(3)<110        
        figPosChar(3:4) = [110,31.7];
        set(InvKineFigH,'position',figPosChar);
        centerfig(InvKineFigH);
    end

    set(InvKineFigH, 'units', dCurrUnits);
    
    tmp = get(InvKineFigH, 'userdata');
    frameH = tmp(1,7);
    framePos = get(frameH, 'pos');
    framePos(3) = figPosChar(3);
    set(frameH, 'pos',framePos);
    
    box1 = tmp(1,8);
    box1Pos = get(box1, 'pos');
    moveby = (framePos(1)-box1Pos(1)) + ((framePos(3)-box1Pos(3))/2 );
    
%    if moveby > 2 
        
        startH = tmp(1,1);
        stopH = tmp(1,2);
        pauseH = tmp(1,3);
        contH = tmp(1,4);
        stepH = tmp(1,5);
        countH = tmp(1,6);
        infoH = tmp(2,5);
        closeH = tmp(2,6);
        box3 = tmp(1,10);
        box2 = tmp(1,9);
        showTrailH = tmp(2,2);
        clearTrailH = tmp(2,3);
        helpTextH = tmp(2,4);



        startHPos = get(startH, 'pos');
        stopHPos  = get(stopH, 'pos');
        pauseHPos = get(pauseH, 'pos');
        contHPos = get(contH, 'pos');
        stepHPos = get(stepH, 'pos');
        countHPos = get(countH, 'pos');
        infoHPos = get(infoH, 'pos');
        closeHPos = get(closeH, 'pos');
        box3Pos  = get(box3, 'pos');
        box2Pos = get(box2, 'pos');
        showTrailHPos  = get(showTrailH, 'pos');
        clearTrailHPos = get(clearTrailH, 'pos');
        helpTextHPos = get(helpTextH, 'pos');


        startHPos(1) = startHPos(1)+ moveby;
        stopHPos(1) =  stopHPos(1)+ moveby;
        pauseHPos(1) = pauseHPos(1)+ moveby;
        contHPos(1) =  contHPos(1)+ moveby;
        stepHPos(1) =  stepHPos(1)+ moveby;
        countHPos(1) = countHPos(1)+ moveby;
        infoHPos(1) =  infoHPos(1)+ moveby;
        closeHPos(1) = closeHPos(1)+ moveby;
        box3Pos(1) =   box3Pos(1)+ moveby;
        box2Pos(1) =  box2Pos(1)+ moveby;
        box1Pos(1) =  box1Pos(1)+ moveby;
        showTrailHPos(1) = showTrailHPos(1)+ moveby;
        clearTrailHPos(1) = clearTrailHPos(1) + moveby;
        helpTextHPos(1) = helpTextHPos(1)+ moveby;



        set(startH,'pos',startHPos);
        set(stopH,'pos',stopHPos);
        set(pauseH,'pos',pauseHPos);
        set(contH,'pos',contHPos);
        set(stepH,'pos',stepHPos);
        set(countH,'pos',countHPos);
        set(infoH,'pos',infoHPos);
        set(closeH,'pos',closeHPos);
        set(box3,'pos',box3Pos);
        set(box2,'pos',box2Pos);
        set(box1,'pos',box1Pos);
        set(showTrailH,'pos',showTrailHPos);
        set(clearTrailH,'pos',clearTrailHPos);
        set(helpTextH,'pos',helpTextHPos);
    
%    end
    
    
    
   
    
    

    
else
    fprintf('Action string = %s\n', action);
    error('Unknown action string!');
end